/mnt/workspace/gyh/RoboTwin/policy/DP3/3D-Diffusion-Policy/train_pnet.sh \
 0 /mnt/workspace/gyh/RoboTwin/policy/DP3/data/place_shoe-demo_clean_726-franka-100-ur5-80-dataseg-testkey4.zarr \
 /mnt/workspace/gyh/RoboTwin/policy/DP3/3D-Diffusion-Policy/diffusion_policy_3d/config/pnet-728-2.yaml #pnet728

/mnt/workspace/gyh/RoboTwin/policy/DP3/3D-Diffusion-Policy/train_pnet.sh \
 0 /mnt/workspace/gyh/RoboTwin/policy/DP3/data/place_shoe-demo_clean_726-franka-100-ur5-80-dataseg-testkey4.zarr \
 /mnt/workspace/gyh/RoboTwin/policy/DP3/3D-Diffusion-Policy/diffusion_policy_3d/config/pnet-728-2.yaml --eval --debug #pnet728


 /mnt/workspace/gyh/RoboTwin/policy/DP3/3D-Diffusion-Policy/train_pnet.sh \
 7 /mnt/workspace/gyh/RoboTwin/policy/DP3/data/place_shoe-demo_clean_franka-100-seg.zarr \
 /mnt/workspace/gyh/RoboTwin/policy/DP3/3D-Diffusion-Policy/diffusion_policy_3d/config/pnet-728-2.yaml #pnetf729

 /mnt/workspace/gyh/RoboTwin/policy/DP3/3D-Diffusion-Policy/train_pnet.sh \
 7 /mnt/workspace/gyh/RoboTwin/policy/DP3/data/place_shoe-demo_clean_franka-100-seg.zarr \
 /mnt/workspace/gyh/RoboTwin/policy/DP3/3D-Diffusion-Policy/diffusion_policy_3d/config/pnet-728-2.yaml --eval --debug

 /mnt/workspace/gyh/RoboTwin/policy/DP3/3D-Diffusion-Policy/train_pnet.sh \
 0 /mnt/workspace/gyh/RoboTwin/policy/DP3/data/place_shoe-demo_clean_726-franka-100-ur5-80-dataseg-testkey4.zarr \
 /mnt/workspace/gyh/RoboTwin/policy/DP3/3D-Diffusion-Policy/diffusion_policy_3d/config/pnet-728-ts-limit.yaml #ts1pn

  cd /mnt/workspace/gyh/utilgyh; python3 dataTraverser.py \
  -z /mnt/workspace/gyh/RoboTwin/policy/DP3/data/place_shoe-demo_clean_726-franka-100-ur5-80-dataseg.zarr \
 -p lds-paintf-saveps -f 0 -e 0
 

 cd /mnt/workspace/gyh/utilgyh; python3 dataTraverser.py \
 -z /mnt/workspace/gyh/RoboTwin/policy/DP3/data/place_shoe-demo_clean_franka-100-seg.zarr  \
 -p lds-paintf-saveps -o /mnt/workspace/gyh/RoboTwin/policy/DP3/data/place_shoe-demo_clean_franka-100-seg-simplef1.zarr -f 0

   cd /mnt/workspace/gyh/utilgyh; python3 dataTraverser.py \
 -z /mnt/workspace/gyh/RoboTwin/policy/DP3/data/place_shoe-demo_clean_franka-100-seg.zarr  \
 -p lds-paintf-saveps  -f 0-2 -e 0

  cd /mnt/workspace/gyh/utilgyh; python3 dataTraverser.py \
 -z /mnt/workspace/gyh/RoboTwin/policy/DP3/data/place_shoe-demo_clean_franka-100-seg-ref0.zarr  \
 -p ldps-saveps  -f 0-2 -e 0

 #reps729 using repainted pcd(to have only four classes) and only franka data, and only first frame of each episode
 /mnt/workspace/gyh/RoboTwin/policy/DP3/3D-Diffusion-Policy/train_pnet.sh \
 7 /mnt/workspace/gyh/RoboTwin/policy/DP3/data/place_shoe-demo_clean_franka-100-seg-simple.zarr \
 /mnt/workspace/gyh/RoboTwin/policy/DP3/3D-Diffusion-Policy/diffusion_policy_3d/config/pnet-728-ts-limit.yaml #pnetf729